IP_mqtt = "192.168.1.103"
IP_camera = "192.168.17.9"
serial_CAN = '/dev/serial_CAN'
serial_handle = '/dev/serial_handle'


factor_linearSpeed = 1.8
factor_angularSpeed = 1.2

max_distance_cross = 0.3 # 最大横向距离
max_trace_angle_deviation = 30 # 最大航向角偏差
# region # standly纠偏
class Standly:
    pass


standly = Standly()
standly.K_Cross = 3  # 横向误差系数
standly.K_LowVelo = 0.5  # 低速阻尼
standly.K_trace_angle = 12  # 航向角纠偏系数
standly.K_cross_angle = 1  # 横向距离纠偏系数
standly.path_direction = 0  # 路径方向
# endregion

print("DeviceParameters.py is loaded")